Pavement Performance Evaluation Method Based on Three-Dimensional Disease Information

Abstract

The present invention provides a pavement performance evaluation method based on three-dimensional disease information, including: determining the disease area of the pavement to be evaluated based on the three-dimensional point cloud data of the pavement to be evaluated, and determining the disease information of the disease area and the non-disease road condition information of the entire width of the pavement to be evaluated; determining the disease influence value of the disease area based on the disease type in the disease information, the disease geometric dimension information in the disease information, and the disease representative depth information in the disease information; determining the non-disease road condition influence value of the entire width of the pavement to be evaluated based on the road condition index category in the non-disease road condition information and the road condition index measurement value in the non-disease road condition information; and determining the pavement performance of the pavement to be evaluated based on the disease influence value and the non-disease road condition influence value, thereby realizing the accurate evaluation of the pavement performance of the pavement to be evaluated.

Description

Technical Field

[0001] The present invention relates to the technical field of road detection, and in particular, to a pavement performance evaluation method based on three-dimensional disease information. Background Art

[0002] The quality of highway service performance directly affects the city appearance and urban economic development. During the service process of highways, under the combined action of traffic loads and natural environments, etc., cracks, ruts, potholes, bumps, settlements, and stepped joints and other damage phenomena will gradually appear on the road surface, resulting in a gradual decline in the road use performance, and will also affect the driving speed and driving safety of vehicles to varying degrees, thus having a great impact on the comprehensive economic benefits and social benefits.

[0003] The existing damage detection methods use two-dimensional image detection technology and cannot obtain the depth information of pavement damage. Without depth information, it is impossible to accurately evaluate the pavement performance.

[0004] Three-dimensional pavement detection equipment integrates a large number of modern advanced information technologies, elevates the pavement detection data information from two-dimensional to three-dimensional, greatly enriches the pavement condition data information, realizes the automatic detection of various types of diseases, and at the same time greatly improves the efficiency and reliability of highway detection. The development of three-dimensional detection technology provides a good foundation for the accurate assessment of pavement damage. How to accurately evaluate the pavement performance based on the three-dimensional information of diseases is an urgent problem to be solved. Summary of the Invention

[0005] The present invention provides a pavement performance evaluation method based on three-dimensional disease information to solve the technical problem of accurately evaluating the pavement performance based on the three-dimensional information of diseases.

[0006] The present invention provides a pavement performance evaluation method based on three-dimensional disease information, including:

[0007] Based on the three-dimensional point cloud data of the pavement to be evaluated, determine the disease area of the pavement to be evaluated, and determine the disease information of the disease area and the non-disease road condition information of the entire width of the pavement to be evaluated;

[0008] Based on the disease type in the disease information, the disease geometric dimension information in the disease information, and the disease representative depth information in the disease information, determine the disease influence value of the disease area;

[0009] Based on the road condition index category in the non-disease road condition information and the road condition index measurement value in the non-disease road condition information, determine the non-disease road condition influence value of the entire width of the pavement to be evaluated;

[0010] Based on the disease influence value and the non-disease road condition influence value, determine the pavement performance of the pavement to be evaluated.

[0011] A pavement performance evaluation method based on three-dimensional disease information provided by the present invention, based on the three-dimensional point cloud data of the pavement to be evaluated, determines the disease area of the pavement to be evaluated, and determines the disease information of the disease area and the non-disease road condition information of the entire width of the pavement to be evaluated, including:

[0012] Obtain the three-dimensional point cloud data of the pavement to be evaluated;

[0013] Based on the three-dimensional point cloud data, determine the non-disease road condition information of the entire width of the pavement to be evaluated, and the non-disease road condition information includes one or more of rut information, flatness information, texture depth information, and pavement wear information;

[0014] Based on the rut information in the three-dimensional point cloud data, segment the pavement to be evaluated, determine the rut disease area of the pavement to be evaluated, and determine the rut disease information of the rut disease area;

[0015] Determining the disease information of the disease area further includes:

[0016] Based on the three-dimensional point cloud data, determine the conventional disease area of the pavement to be evaluated, and the conventional disease area includes one or more of a crack area, a pothole area, a bump area, a settlement area, a repair area, and an oil spill area;

[0017] Determine the disease information of the conventional disease area, and the disease information of the conventional disease area includes one or more of crack area disease information, pothole area disease information, bump area disease information, settlement area disease information, repair area disease information, and oil spill area disease information.

[0018] A pavement performance evaluation method based on three-dimensional disease information provided by the present invention, based on the rut information in the three-dimensional point cloud data, segments the pavement to be evaluated, and determines the rut disease area of the pavement to be evaluated, including:

[0019] Based on the rut depth information in the rut information and the rut cross-sectional area information in the rut information, segment the pavement to be evaluated, and determine the rut disease area of the pavement to be evaluated.

[0020] A pavement performance evaluation method based on three-dimensional disease information provided by the present invention, after determining the rut disease area of the pavement to be evaluated, further includes:

[0021] Based on the three-dimensional point cloud data of the rut disease area, determine the disease information in the rut disease area, and the disease information in the rut disease area includes one or more of rut disease length, rut disease width, and rut disease depth.

[0022] A pavement performance evaluation method based on three-dimensional disease information provided by the present invention, based on the rut depth information in the rut information and the rut cross-sectional area information in the rut information, divides the pavement to be evaluated, and further includes:

[0023] When the rut information is non-disease road condition information, determine the low-frequency signal of the cross-section in the rut information and the upper envelope of the low-frequency signal;

[0024] Determine the distance from each measurement point in the low-frequency signal of the cross-section to the upper envelope as the rut value in the road width direction.

[0025] A pavement performance evaluation method based on three-dimensional disease information provided by the present invention further includes:

[0026] Based on a first preset size, divide the pavement to be evaluated to obtain multiple first pavement evaluation unit areas of the pavement to be evaluated;

[0027] Determine the disease influence value of any first pavement evaluation unit area as:

[0028]

[0029] where E d is the disease influence value, W d is the disease weight corresponding to the disease type, S d is the overall disease area, d d is the overall disease depth, d r is the representative depth of the disease in the first pavement evaluation unit area, B d is the disease reference value, W 1 and W 2 are preset weights.

[0030] A pavement performance evaluation method based on three-dimensional disease information provided by the present invention, based on the road condition index category in the non-disease road condition information and the road condition index measurement value in the non-disease road condition information, determines the non-disease road condition influence value of the entire width of the pavement to be evaluated, including:

[0031] Based on the calculation models corresponding to the categories in the road condition index category, determine the road condition index measurement values corresponding to the categories, and based on the road condition index measurement values corresponding to the categories, determine the non-disease road condition influence value of the entire width of the pavement to be evaluated. The road condition index category includes one or more of the pavement evenness index category, the pavement texture depth index category, the pavement abrasion index category, and the pavement rut index category.

[0032] A pavement performance evaluation method based on three-dimensional disease information provided by the present invention, the pavement wear index is:

[0033]

[0034] wherein, PWI is the pavement wear index, WR is the pavement wear rate, a 0 and a 1 are preset parameters;

[0035] The pavement wear rate is:

[0036]

[0037] wherein, WR is the pavement wear rate, MPD c is the pavement texture depth reference value, and MPD is the pavement texture depth.

[0038] A pavement performance evaluation method based on three-dimensional disease information provided by the present invention, based on the disease influence value and the non-disease road condition influence value, determining the pavement performance of the pavement to be evaluated, including:

[0039] Based on a first preset size, dividing the pavement to be evaluated to obtain a plurality of first pavement evaluation unit areas of the pavement to be evaluated, and based on a second preset size, dividing the pavement to be evaluated to obtain a plurality of second pavement evaluation unit areas of the pavement to be evaluated, any second pavement evaluation unit area includes a plurality of first pavement evaluation unit areas;

[0040] For any first pavement evaluation unit, taking the maximum value or weighted average value in the disease value set as the disease influence deduction score of the pavement to be evaluated, and the disease value set includes one or more of the pavement crack influence value, pavement pothole influence value, pavement bump influence value, pavement settlement influence value, pavement repair influence value, pavement bleeding influence value and pavement rutting disease influence value of the first pavement evaluation unit;

[0041] For any first pavement evaluation unit, taking the maximum value or weighted average value in the non-disease road condition value set as the non-disease road condition influence deduction score of the pavement to be evaluated, and the non-disease road condition value set includes one or more of the pavement flatness index influence value, pavement texture depth index influence value, pavement wear index influence value and pavement rutting index influence value of the first pavement evaluation unit;

[0042] For any of the second road surface evaluation units, based on the disease impact deduction scores of the road surface to be evaluated of all the first road surface evaluation units in the second road surface evaluation unit and the non-disease road condition impact deduction scores of the road surface to be evaluated of all the first road surface evaluation units in the second road surface evaluation unit, determine the road surface performance of the road surface to be evaluated.

[0043] According to a road surface performance evaluation method based on three-dimensional disease information provided by the present invention, based on the disease impact deduction scores of the road surface to be evaluated of all the first road surface evaluation units in the second road surface evaluation unit and the non-disease road condition impact deduction scores of the road surface to be evaluated of all the first road surface evaluation units in the second road surface evaluation unit, determine the road surface performance of the road surface to be evaluated, including:

[0044] For all the first road surface evaluation units in the second road surface evaluation unit, select the maximum value between the disease impact deduction score and the non-disease road condition impact deduction score in the first road surface evaluation unit as the road surface performance deduction score of the first road surface evaluation unit;

[0045] Or, select the weighted average of the disease impact deduction score and the non-disease road condition impact deduction score in the first road surface evaluation unit as the road surface performance deduction score of the first road surface evaluation unit;

[0046] Sort the road surface performance deduction scores of all the first road surface evaluation units in the second road surface evaluation unit, and select the target evaluation units whose road surface performance deduction scores are greater than the preset performance deduction threshold;

[0047] Based on the target evaluation units whose road surface performance deduction scores are greater than the preset performance deduction threshold, determine the road surface performance of the road surface to be evaluated.

[0048] In the process of evaluating road surface diseases, the road surface performance evaluation method based on three-dimensional disease information provided by the present invention not only determines the disease impact value of the disease area based on the disease type in the disease information and the disease geometric dimension information in the disease information, but also introduces the disease representative depth information in the disease information, improving the accuracy of the disease impact value. When determining the non-disease road condition information, the full-width non-disease road condition information is introduced to achieve accurate evaluation of non-disease road condition indicators. Based on the determined disease impact value and non-disease road condition impact value, determine the road surface performance of the road surface to be evaluated. The quantification of the road surface performance of the road surface to be evaluated and the accurate determination of the road surface performance of the road surface to be evaluated are realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly describe the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0050] Figure 1 It is a schematic flow chart of the pavement performance evaluation method based on three-dimensional disease information provided by the present invention. Detailed implementation manners

[0051] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0052] Figure 1 It is a schematic flow chart of the pavement performance evaluation method based on three-dimensional disease information provided by the present invention. Refer to Figure 1 , the pavement performance evaluation method based on three-dimensional disease information provided by the present invention may include:

[0053] Step 110: Based on the three-dimensional point cloud data of the pavement to be evaluated, determine the disease area of the pavement to be evaluated, and determine the disease information of the disease area and the non-disease road condition information of the entire width of the pavement to be evaluated;

[0054] Step 120: Based on the disease type in the disease information, the disease geometric dimension information in the disease information, and the disease representative depth information in the disease information, determine the disease influence value of the disease area;

[0055] In step 130, based on the road condition index category in the non-disease road condition information and the road condition index measurement value in the non-disease road condition information, determine the non-disease road condition influence value of the entire width of the pavement to be evaluated;

[0056] In step 140, based on the disease influence value and the non-disease road condition influence value, determine the pavement performance of the pavement to be evaluated.

[0057] The execution subject of the pavement performance evaluation method based on three-dimensional disease information provided by the present invention can be an electronic device, a component in the electronic device, an integrated circuit, or a chip. The electronic device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a handheld computer, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc., and the non-mobile electronic device can be a server, a Network Attached Storage (NAS), or a personal computer (PC), etc. The present invention does not make specific limitations.

[0058] Taking a computer executing the pavement performance evaluation method based on three-dimensional disease information provided by the present invention as an example, the technical solution of the present invention will be described in detail below.

[0059] In step 110, three-dimensional point cloud data of the pavement to be evaluated is obtained. Based on the three-dimensional point cloud data of the pavement to be evaluated, the disease area of the pavement to be evaluated is determined. And based on the three-dimensional point cloud data of the pavement to be evaluated, the disease information of the disease area and the non-disease information of the entire width of the pavement to be evaluated are determined.

[0060] The pavement to be evaluated is any pavement that needs to be evaluated for pavement performance. The three-dimensional point cloud data of the pavement to be evaluated can be obtained based on three-dimensional pavement detection equipment. The three-dimensional pavement detection equipment integrates a large number of advanced information technologies, elevates the pavement detection data information from two-dimensional to three-dimensional, greatly enriches the pavement condition data information, realizes the automatic detection of various types of diseases, and at the same time greatly improves the efficiency and reliability of highway detection. The development of three-dimensional detection technology provides a good foundation for the accurate assessment of pavement damage.

[0061] Optionally, after obtaining the three-dimensional point cloud data of the pavement to be evaluated, the pavement to be evaluated can be segmented based on the rut information in the three-dimensional point cloud data to determine the disease area of the pavement to be evaluated. For example, the ruts can be classified based on the maximum rut depth and cross-sectional area information in the rut information. According to the preset rut maximum depth classification threshold and rut cross-sectional area classification threshold, the ruts are divided into pavement rut diseases or non-disease type road condition indicators, so as to realize the determination of the rut disease area of the pavement to be evaluated based on the three-dimensional point cloud data. After determining the disease area based on the rut information, the three-dimensional point cloud data of the ruts in the disease area can be further analyzed to obtain the disease information of the rut disease area.

[0062] Optionally, based on the three-dimensional point cloud data of the road surface to be evaluated, one or more of the crack area, pothole area, bump area, settlement area, repair area, and bleeding area of the road surface to be evaluated can be determined, and the disease information of the crack area, pothole area, bump area, settlement area, repair area, and bleeding area can be determined.

[0063] Based on the three-dimensional point cloud data of the road surface to be evaluated, the non-disease road condition information of the entire width of the road surface to be evaluated can be determined. Among them, the non-disease road condition information of the entire width of the road surface to be evaluated does not only focus on specific parts of the road, but covers the range of the road width of the entire road surface to be evaluated.

[0064] In step 120, based on the disease type in the disease information, the disease geometric dimension information in the disease information, and the disease representative depth information in the disease information determined in step 110, the disease influence value of the disease area is determined.

[0065] Among them, the disease type in the disease information can be the type of specific diseases. Specifically, it can include road surface cracks, road surface potholes, road surface bumps, road surface settlements, road surface repairs, road surface bleeding, etc.

[0066] The disease geometric dimension information can include disease length, width, depth, etc.

[0067] The disease representative depth information is the vertical thickness or depth of various types of diseases on the road surface. It represents the distance from the road surface to the bottom of the disease or the depth of cracks and holes.

[0068] Optionally, based on the disease type in the disease information, the disease geometric dimension information in the disease information, and the disease representative depth information in the disease information, the disease influence value of the disease area can be:

[0069]

[0070] Among them, E d is the disease influence value, W d is the disease weight corresponding to the disease type, S d is the overall disease area, d d is the overall disease depth, d r is the disease representative depth, B d is the disease reference value, W 1 and W 2 are preset weights.

[0071] In step 130, after determining the non-disease road condition information of the entire width of the road surface to be evaluated, based on the road condition index category in the non-disease road condition information and the road condition index measurement value in the non-disease road condition information, the non-disease road condition influence value of the entire width of the road surface to be evaluated is determined.

[0072] The non-disease road condition information may include parameter information such as pavement evenness, texture depth, abrasion, etc. The non-disease road condition information of the entire width of the road surface to be evaluated is the evenness, texture depth, and abrasion at any longitudinal section position along the road width direction. Introducing the non-disease road condition information of the entire width can achieve accurate evaluation of non-disease road condition indicators.

[0073] Based on the road condition indicator categories in the non-disease road condition information and the measured values of the road condition indicators in the non-disease road condition information, the influence value of the non-disease road condition of the entire width of the road surface to be evaluated can be determined in combination with the indicator evaluation model.

[0074] Optionally, the road condition indicator categories may include one or more of the pavement evenness indicator category, pavement texture depth indicator category, pavement abrasion indicator category, and pavement rutting indicator category.

[0075] For the pavement evenness indicator, using the pavement ride quality index calculation model, the pavement ride quality index RQI is obtained, and (100 - RQI) is used as the influence value of the pavement evenness indicator.

[0076] For the pavement texture depth MPD, using the pavement abrasion index calculation model, the pavement abrasion index PWI is obtained, and (100 - PWI) is used as the influence value of the pavement texture depth.

[0077] The pavement abrasion index value can be:

[0078]

[0079] where PWI is the pavement abrasion index, WR is the pavement abrasion rate, a 0 and a 1 are preset parameters.

[0080] The pavement abrasion rate can be:

[0081]

[0082] where WR is the pavement abrasion rate, MPD c is the pavement texture depth reference value, and MPD is the pavement texture depth.

[0083] For the pavement rutting indicator, using the rut depth index calculation model, the pavement rut depth index RDI is obtained, and (100 - RDI) is used as the influence value of the pavement rutting indicator.

[0084] Among them, the method for obtaining the rut depth of any measurement point in any cross-section is: extracting the low-frequency signal of the cross-section and the upper envelope of the low-frequency signal, determining the distance from each measurement point in the low-frequency signal of the cross-section to the corresponding upper envelope point, and using this distance as the rut depth corresponding to the measurement point.

[0085] Based on the determined influence values of pavement evenness index, pavement texture depth influence value, pavement wear index value, and pavement rut index value, the non-disease road condition influence value of the entire width of the pavement to be evaluated is determined.

[0086] In step 140, after determining the disease influence value of the disease area and the non-disease road condition influence value of the entire width of the pavement to be evaluated, based on the disease influence value and the non-disease road condition influence value, the pavement performance of the pavement to be evaluated is determined.

[0087] It can be understood that in the process of evaluating pavement diseases, not only based on the disease type in the disease information and the disease geometric dimension information in the disease information, but also introducing the disease representative depth information in the disease information to determine the disease influence value of the disease area, which improves the accuracy of the disease influence value.

[0088] When determining the non-disease road condition information, introducing the non-disease road condition information of the entire width can achieve accurate evaluation of non-disease road condition indicators.

[0089] It can be understood that the disease influence value of the pavement to be evaluated and the non-disease road condition influence value of the pavement to be evaluated reflect the performance of the pavement to be evaluated. Based on the disease influence value and the non-disease road condition influence value, the quantification of the pavement performance of the pavement to be evaluated is realized, and the accurate determination of the pavement performance of the pavement to be evaluated is realized.

[0090] The pavement performance evaluation method based on three-dimensional disease information provided by the embodiments of the present invention determines the disease influence value of the disease area by introducing not only the disease type in the disease information and the disease geometric dimension information in the disease information, but also the disease representative depth information in the disease information during the process of evaluating pavement diseases, which improves the accuracy of the disease influence value. When determining the non-disease road condition information, introducing the non-disease road condition information of the entire width realizes accurate evaluation of non-disease road condition indicators. Based on the determined disease influence value and non-disease road condition influence value, the pavement performance of the pavement to be evaluated is determined. The quantification of the pavement performance of the pavement to be evaluated and the accurate determination of the pavement performance of the pavement to be evaluated are realized.

[0091] In one embodiment, based on the three-dimensional point cloud data of the road surface to be evaluated, the disease area of the road surface to be evaluated is determined, and the disease information of the disease area and the non-disease road condition information of the entire width of the road surface to be evaluated are determined, including: obtaining the three-dimensional point cloud data of the road surface to be evaluated; based on the three-dimensional point cloud data, determining the non-disease road condition information of the entire width of the road surface to be evaluated, where the non-disease road condition information includes one or more of rut information, flatness information, texture depth information, and road surface wear information; based on the rut information in the three-dimensional point cloud data, segmenting the road surface to be evaluated to determine the rut disease area of the road surface to be evaluated, and determining the rut disease information of the rut disease area; determining the disease information of the disease area further includes: based on the three-dimensional point cloud data, determining the conventional disease area of the road surface to be evaluated, where the conventional disease area includes one or more of a crack area, a pothole area, a bump area, a settlement area, a repair area, and an oil spill area; determining the disease information of the conventional disease area, where the disease information of the conventional disease area includes one or more of crack area disease information, pothole area disease information, bump area disease information, settlement area disease information, repair area disease information, and oil spill area disease information.

[0092] Obtain the three-dimensional point cloud data of the road surface to be evaluated, and based on the obtained three-dimensional point cloud data, determine the non-disease road condition information of the entire width of the road surface to be evaluated. Among them, the non-disease road condition information includes rut information, flatness information, texture depth information, and road surface wear information.

[0093] It can be understood that after extracting the rut information from the three-dimensional point cloud data of the road surface to be evaluated, the road surface to be evaluated can be segmented based on the rut information. For the rut of the road surface to be evaluated, according to the depth of the rut and the cross-sectional area of the rut, the rut may be a disease road condition or a non-disease road condition.

[0094] Among them, to extract the rut information from the three-dimensional point cloud data of the road surface to be evaluated, the maximum rut depth and rut cross-sectional area information can be obtained based on the road surface cross-sectional data in the three-dimensional point cloud data in combination with the rut calculation model.

[0095] Based on the rut information in the three-dimensional point cloud data, segment the road surface to be evaluated to determine the rut disease area of the road surface to be evaluated, and determine the rut disease information of the rut disease area.

[0096] Among them, in addition to the rut disease area, the disease area also includes a conventional disease area. The conventional disease area can be directly determined based on the three-dimensional point cloud data. The conventional disease area includes one or more of a crack area, a pothole area, a bump area, a settlement area, a repair area, and an oil spill area.

[0097] After determining the conventional disease area, the disease information of the conventional disease area can be further determined. The disease information of the conventional disease area includes one or more of the disease information of the crack area, the pothole area, the bump area, the settlement area, the repair area, and the bleeding area.

[0098] The pavement performance evaluation method based on three-dimensional disease information provided by the embodiments of the present invention realizes the determination of rut disease information of the pavement to be evaluated by extracting rut information from the three-dimensional point cloud data of the pavement to be evaluated and then segmenting the pavement to be evaluated based on the rut information.

[0099] In one embodiment, based on the rut information in the three-dimensional point cloud data, segmenting the pavement to be evaluated to determine the rut disease area of the pavement to be evaluated includes: segmenting the pavement to be evaluated based on the rut depth information in the rut information and the rut cross-sectional area information in the rut information to determine the rut disease area of the pavement to be evaluated.

[0100] It can be understood that after extracting the rut information from the three-dimensional point cloud data of the pavement to be evaluated, the pavement to be evaluated can be segmented based on the rut information. For the rut of the pavement to be evaluated, the rut is judged according to the depth and cross-sectional area of the rut. The rut may be a disease-like road condition or a non-disease-like road condition.

[0101] Specifically, based on the rut depth information in the rut information corresponding to any cross-section and the rut cross-sectional area information in the rut information, compare them with the preset rut maximum depth classification threshold and rut cross-sectional area classification threshold respectively, extract the rut disease area in the current cross-section, and then merge the rut disease areas of adjacent cross-sections in the pavement to be evaluated, so as to realize the determination of the rut disease area of the pavement to be evaluated.

[0102] The pavement performance evaluation method based on three-dimensional disease information provided by the embodiments of the present invention realizes the determination process of the rut disease area of the pavement to be evaluated by segmenting the pavement to be evaluated through the rut depth information in the rut information and the rut cross-sectional area information in the rut information.

[0103] In one embodiment, after determining the rut disease area of the pavement to be evaluated, it further includes: based on the three-dimensional point cloud data of the rut disease area, determining the disease information in the rut disease area, and the disease information in the rut disease area includes one or more of the rut disease length, rut disease width, and rut disease depth.

[0104] After determining the rut disease area of the pavement to be evaluated, based on the three-dimensional point cloud data of the rut disease area of the pavement to be evaluated, the disease information in the rut disease area is extracted.

[0105] The disease information in the rut disease area includes rut disease length, rut disease width, rut disease depth, etc.

[0106] The pavement performance evaluation method based on three-dimensional disease information provided by the embodiments of the present invention realizes the determination of the disease information in the rut disease area by extracting the disease information in the rut disease area based on the three-dimensional point cloud data of the rut disease area of the pavement to be evaluated after determining the rut disease area of the pavement to be evaluated.

[0107] In one embodiment, based on the rut depth information in the rut information and the rut cross-sectional area information in the rut information, the pavement to be evaluated is segmented, which further includes: when the rut information is non-disease road condition information, determining the low-frequency signal of the cross-section in the rut information and the upper envelope line of the low-frequency signal; determining the distance from each measurement point in the low-frequency signal of the cross-section to the upper envelope line as the rut value in the road width direction.

[0108] For the rut of the pavement to be evaluated, the rut is judged according to the depth of the rut and the rut cross-sectional area. The rut may be a disease road condition or a non-disease road condition.

[0109] If it is determined as a rut disease based on the rut information, based on the three-dimensional point cloud data of the pavement to be evaluated, the length, width, and depth information of the pavement rut disease are extracted.

[0110] If it is determined as non-disease road condition information based on the rut information, the low-frequency signal of the cross-section in the rut information and the upper envelope line of the low-frequency signal can be determined. The distance from each measurement point in the low-frequency signal of the cross-section to the upper envelope line is determined as the rut value in the road width direction.

[0111] The pavement performance evaluation method based on three-dimensional disease information provided by the embodiments of the present invention discriminates the rut information through the rut depth information in the rut information and the rut cross-sectional area information in the rut information, and realizes the determination of the rut value when the rut information is non-disease road condition information.

[0112] In one embodiment, it further includes: dividing the pavement to be evaluated based on a first preset size to obtain multiple first pavement evaluation unit areas of the pavement to be evaluated; determining the disease influence value of any one of the first pavement evaluation unit areas as:

[0113]

[0114] Wherein, Ed is the disease impact value, W d is the disease weight corresponding to the disease type, S d is the overall disease area, d d is the overall disease depth, d r is the representative depth of the disease within the first road surface evaluation unit area, B d is the disease reference value, W 1 and W 2 is the preset weight.

[0115] When specifically calculating and determining the disease impact value, the road surface to be evaluated can be divided. Based on the first preset size, the road surface to be evaluated is divided into multiple first road surface evaluation unit areas.

[0116] It is determined that the disease impact value of any first road surface evaluation unit area of the road surface to be evaluated is:

[0117]

[0118] wherein, E d is the disease impact value, W d is the disease weight corresponding to the disease type, S d is the overall disease area, d d is the overall disease depth, d r is the representative depth of the disease within the first road surface evaluation unit area, B d is the disease reference value, W 1 and W 2 is the preset weight.

[0119] After obtaining the disease impact values of the respective first road surface evaluation unit areas of the road surface to be evaluated, the disease impact value of the entire road surface to be evaluated can be determined based on the disease impact values of the respective first road surface evaluation unit areas.

[0120] The road surface performance evaluation method based on three-dimensional disease information provided by the embodiments of the present invention divides the road surface to be evaluated, divides the road surface to be evaluated into multiple first road surface evaluation unit areas, and determines the specific value of the disease impact value based on a specific calculation formula.

[0121] In one embodiment, based on the road condition index categories in the non-disease road condition information and the road condition index measurement values in the non-disease road condition information, determining the non-disease road condition influence value of the entire width of the road surface to be evaluated includes: based on the calculation models corresponding to the categories in the road condition index categories, determining the road condition index measurement values corresponding to the categories, and based on the road condition index measurement values corresponding to the categories, determining the non-disease road condition influence value of the entire width of the road surface to be evaluated. The road condition index categories include one or more of a road surface evenness index category, a road surface texture depth index category, a road surface abrasion index category, and a road surface rut index category.

[0122] Specifically, for determining the non-disease road condition influence value of the entire width of the road surface to be evaluated, the road condition index measurement values corresponding to the categories can be determined based on the calculation models corresponding to the categories in the road condition index categories.

[0123] Among them, the road condition index categories include a road surface evenness index category, a road surface texture depth index category, a road surface abrasion index category, and a road surface rut index category, etc.

[0124] For example, for the road surface evenness index in the road condition index categories, the road surface riding quality index RQI can be obtained based on the road surface riding quality index calculation model, and (100 - RQI) can be used as the road surface evenness index value.

[0125] After determining the road condition index measurement values corresponding to the categories, based on the road condition index measurement values corresponding to the categories, determine the non-disease road condition influence value of the entire width of the road surface to be evaluated.

[0126] Optionally, based on a first preset size, the road surface to be evaluated is divided to obtain multiple first road surface evaluation unit areas of the road surface to be evaluated. In the first road surface evaluation unit, there can be evenness indexes corresponding to multiple longitudinal profile positions, and the weighted average value or the maximum value of the evenness indexes corresponding to the multiple longitudinal profile positions can be used as the road surface evenness index measurement value of the road surface to be evaluated.

[0127] In the first road surface evaluation unit to be evaluated, there are road surface texture depth indexes corresponding to multiple longitudinal profile positions, and the weighted average value or the maximum value of the road surface texture depth indexes corresponding to the multiple longitudinal profile positions can be used as the road surface texture depth index measurement value of the road surface to be evaluated.

[0128] In the first road surface evaluation unit to be evaluated, there are road surface abrasion indexes corresponding to multiple longitudinal profile positions, and the weighted average value or the maximum value of the road surface abrasion indexes corresponding to the multiple longitudinal profile positions can be used as the road surface abrasion index measurement value of the road surface to be evaluated.

[0129] In the first pavement evaluation unit to be evaluated, there are pavement rutting indicators corresponding to multiple cross-section profile positions. The weighted mean or maximum value of the pavement rutting indicators corresponding to multiple cross-section profile positions can be used as the measured value of the pavement rutting indicator of the pavement to be evaluated.

[0130] The pavement performance evaluation method based on three-dimensional disease information provided by the embodiments of the present invention realizes the determination of the measured values of the road condition indicators corresponding to each category based on the calculation models corresponding to each category in the road condition indicator category by determining the influence value of the non-disease road condition of the entire width of the pavement to be evaluated.

[0131] In one embodiment, the pavement wear index is:

[0132]

[0133] where PWI is the pavement wear index, WR is the pavement wear rate, a 0 and a 1 are preset parameters;

[0134] The pavement wear rate is:

[0135]

[0136] where WR is the pavement wear rate, MPD c is the pavement texture depth reference value, and MPD is the pavement texture depth.

[0137] Based on the pavement texture depth reference value and the pavement texture depth, the pavement wear rate is determined, and based on the pavement wear rate, the pavement wear index is determined, so as to realize the determination of the pavement wear index.

[0138] In one embodiment, determining the road surface performance of the road surface to be evaluated based on the disease impact value and the non-disease road condition impact value includes: dividing the road surface to be evaluated based on a first preset size to obtain multiple first road surface evaluation unit areas of the road surface to be evaluated, and dividing the road surface to be evaluated based on a second preset size to obtain multiple second road surface evaluation unit areas of the road surface to be evaluated, where any second road surface evaluation unit area includes multiple first road surface evaluation unit areas; for any first road surface evaluation unit, taking the maximum value or weighted average value in the disease value set as the disease impact deduction score of the road surface to be evaluated, and the disease value set includes one or more of the road surface crack impact value, road surface pothole impact value, road surface bump impact value, road surface settlement impact value, road surface repair impact value, road surface bleeding impact value, and road surface rutting disease impact value of the first road surface evaluation unit; for any first road surface evaluation unit, taking the maximum value or weighted average value in the non-disease road condition value set as the non-disease road condition impact deduction score of the road surface to be evaluated, and the non-disease road condition value set includes one or more of the road surface flatness index impact value, road surface texture depth index impact value, road surface abrasion index impact value, and road surface rutting index impact value of the first road surface evaluation unit; for any second road surface evaluation unit, determining the road surface performance of the road surface to be evaluated based on the disease impact deduction score of the road surface to be evaluated for all first road surface evaluation units in the second road surface evaluation unit and the non-disease road condition impact deduction score of the road surface to be evaluated for all first road surface evaluation units in the second road surface evaluation unit.

[0139] Divide the road surface to be evaluated based on a first preset size to obtain multiple first road surface evaluation unit areas of the road surface to be evaluated. Divide the road surface to be evaluated based on a second preset size to obtain multiple second road surface evaluation unit areas of the road surface to be evaluated, where any second road surface evaluation unit area includes multiple first road surface evaluation unit areas.

[0140] It can be understood that based on the first preset size and the second preset size, the road surface to be evaluated is divided into a grid, and the road surface performance is determined based on the divided areas. From local to global, it can better reflect the road surface performance of the overall road surface to be evaluated.

[0141] Construct a disease value set based on the road surface crack impact value, road surface pothole impact value, road surface bump impact value, road surface settlement impact value, road surface repair impact value, road surface bleeding impact value, and road surface rutting disease impact value of the first road surface evaluation unit.

[0142] For any first road surface evaluation unit in the road surface to be evaluated, take the maximum value or weighted average value in the disease value set as the disease impact deduction score of the road surface to be evaluated.

[0143] Based on the influence values of the pavement evenness index, pavement texture depth index, pavement abrasion index, and pavement rutting index of the first pavement evaluation unit, a non-disease road condition value set is constructed.

[0144] For any first pavement evaluation unit in the pavement to be evaluated, the maximum value or weighted average value in the non-disease road condition value set is used as the influence deduction score of the non-disease road condition of the pavement to be evaluated.

[0145] Any second pavement evaluation unit contains multiple first pavement evaluation units. For any second pavement evaluation unit in the pavement to be evaluated, based on the disease influence deduction scores of the pavement to be evaluated of all first pavement evaluation units in the second pavement evaluation unit and the non-disease road condition influence deduction scores of the pavement to be evaluated of all first pavement evaluation units in the second pavement evaluation unit, the pavement performance of the pavement to be evaluated is determined.

[0146] The pavement performance evaluation method based on three-dimensional disease information provided by the embodiments of the present invention uses the maximum value or weighted average value in the disease value set and the non-disease road condition value set as the pavement performance deduction score of the pavement to be evaluated, realizing the determination of the pavement performance deduction score. Based on the pavement performance deduction score, the pavement performance of the pavement to be evaluated is determined.

[0147] In an embodiment, based on the disease influence deduction scores of the pavement to be evaluated of all first pavement evaluation units in the second pavement evaluation unit and the non-disease road condition influence deduction scores of the pavement to be evaluated of all first pavement evaluation units in the second pavement evaluation unit, determining the pavement performance of the pavement to be evaluated includes: for all first pavement evaluation units in the second pavement evaluation unit, selecting the larger value between the disease influence deduction score and the non-disease road condition influence deduction score of the pavement as the pavement performance deduction score of the first pavement evaluation unit; or, selecting the weighted average value of the disease influence deduction score and the non-disease road condition influence deduction score of the pavement as the pavement performance deduction score of the first pavement evaluation unit; sorting the pavement performance deduction scores of all first pavement evaluation units in the second pavement evaluation unit, and selecting target evaluation units with pavement performance deduction scores greater than a preset performance deduction threshold; based on the target evaluation units with pavement performance deduction scores greater than the preset performance deduction threshold, determining the pavement performance of the pavement to be evaluated.

[0148] When determining the pavement performance deduction score of the first pavement evaluation unit, for all the first pavement evaluation units in the second pavement evaluation unit, select the maximum value between the disease impact deduction score and the non-disease road condition impact deduction score in the first pavement evaluation unit as the pavement performance deduction score of the first pavement evaluation unit, or select the weighted average of the disease impact deduction score and the non-disease road condition impact deduction score in the first pavement evaluation unit as the pavement performance deduction score of the first pavement evaluation unit.

[0149] After determining the pavement performance deduction scores of all the first pavement evaluation units in the second pavement evaluation unit, sort the determined pavement performance deduction scores of all the first pavement evaluation units, and select the target evaluation units whose pavement performance deduction scores are greater than the preset performance deduction threshold. It can be understood that the selected target evaluation units are used to represent the second pavement evaluation unit.

[0150] After determining the target evaluation units, based on the target evaluation units whose pavement performance deduction scores are greater than the preset performance deduction threshold, determine the pavement performance of the pavement to be evaluated. Among them, the target evaluation units whose pavement performance deduction scores are greater than the preset performance deduction threshold are the units that can reflect the pavement performance of the pavement to be evaluated. Therefore, the pavement performance of the pavement to be evaluated can be determined based on the target evaluation units whose pavement performance deduction scores are greater than the preset performance deduction threshold.

[0151] The pavement performance evaluation method based on three-dimensional disease information provided by the embodiments of the present invention determines that the target evaluation units whose pavement performance deduction scores are greater than the preset performance deduction threshold are the units that can reflect the pavement performance of the pavement to be evaluated, and based on the target evaluation units whose pavement performance deduction scores are greater than the preset performance deduction threshold, determines the pavement performance of the pavement to be evaluated, realizing the determination process of the pavement performance of the pavement to be evaluated.

[0152] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus the necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pavement performance evaluation method based on three-dimensional disease information, characterized in that, the method includes: Based on the three-dimensional point cloud data of the pavement to be evaluated, determine the disease area of the pavement to be evaluated, and determine the disease information of the disease area and the non-disease road condition information of the entire width of the pavement to be evaluated; Based on the disease type in the disease information, the disease geometric dimension information in the disease information, and the disease representative depth information in the disease information, determine the disease influence value of the disease area; Based on the road condition index category in the non-disease road condition information and the road condition index measurement value in the non-disease road condition information, determine the non-disease road condition influence value of the entire width of the pavement to be evaluated; Based on the disease influence value and the non-disease road condition influence value, determine the pavement performance of the pavement to be evaluated.

2. The pavement performance evaluation method based on three-dimensional disease information according to claim 1, characterized in that, the determining the disease area of the pavement to be evaluated based on the three-dimensional point cloud data of the pavement to be evaluated, and determining the disease information of the disease area and the non-disease road condition information of the entire width of the pavement to be evaluated includes: Obtain the three-dimensional point cloud data of the pavement to be evaluated; Based on the three-dimensional point cloud data, determine the non-disease road condition information of the entire width of the pavement to be evaluated, and the non-disease road condition information includes one or more of rutting information, flatness information, texture depth information, and pavement wear information; Based on the rutting information in the three-dimensional point cloud data, segment the pavement to be evaluated, determine the rutting disease area of the pavement to be evaluated, and determine the rutting disease information of the rutting disease area; Determining the disease information of the disease area further includes: Based on the three-dimensional point cloud data, determine the conventional disease area of the pavement to be evaluated, and the conventional disease area includes one or more of crack area, pothole area, bump area, settlement area, repair area, and bleeding area; Determine the disease information of the conventional disease area, and the disease information of the conventional disease area includes one or more of crack area disease information, pothole area disease information, bump area disease information, settlement area disease information, repair area disease information, and bleeding area disease information.

3. The pavement performance evaluation method based on three-dimensional disease information according to claim 2, characterized in that, the segmenting the pavement to be evaluated based on the rutting information in the three-dimensional point cloud data to determine the rutting disease area of the pavement to be evaluated includes: Based on the rutting depth information in the rutting information and the rutting cross-sectional area information in the rutting information, segment the pavement to be evaluated to determine the rutting disease area of the pavement to be evaluated.

4. The pavement performance evaluation method based on three-dimensional disease information according to claim 3, characterized in that, after determining the rutting disease area of the pavement to be evaluated, further includes: Based on the three-dimensional point cloud data of the rut disease area, determine the disease information in the rut disease area, where the disease information in the rut disease area includes one or more of the rut disease length, rut disease width, and rut disease depth.

5. The pavement performance evaluation method based on three-dimensional disease information according to claim 3, characterized in that the further segmentation of the pavement to be evaluated based on the rut depth information in the rut information and the rut cross-sectional area information in the rut information includes: when the rut information is non-disease road condition information, determine the low-frequency signal of the cross-section in the rut information and the upper envelope line of the low-frequency signal; Determine the distance from each measurement point in the low-frequency signal of the cross-section to the upper envelope line as the rut value in the road width direction.

6. The pavement performance evaluation method based on three-dimensional disease information according to claim 1, characterized in that it further includes: Based on a first preset size, divide the pavement to be evaluated to obtain multiple first pavement evaluation unit areas of the pavement to be evaluated; Determine the disease influence value of any first pavement evaluation unit area as: Among them, E d is the disease impact value, W d is the disease weight corresponding to the disease type, S d is the overall disease area, d d is the overall disease depth, d r is the representative depth of the disease within the area of the first road surface evaluation unit, B d is the disease reference value, W 1 and W 2 are preset weights.

7. The pavement performance evaluation method based on three-dimensional disease information according to claim 1, characterized in that the determination of the non-disease road condition influence value of the entire width of the pavement to be evaluated based on the road condition index category in the non-disease road condition information and the road condition index measurement value in the non-disease road condition information includes: Based on the calculation models corresponding to each category in the road condition index category, determine the road condition index measurement values corresponding to each category, and based on the road condition index measurement values corresponding to each category, determine the non-disease road condition influence value of the entire width of the pavement to be evaluated. The road condition index category includes one or more of the pavement evenness index category, pavement texture depth index category, pavement abrasion index category, and pavement rut index category.

8. The pavement performance evaluation method based on three-dimensional disease information according to claim 7, characterized in that the pavement abrasion index is: Among them, PWI is the pavement wear index, WR is the pavement wear rate, and a 0 and a 1 are preset parameters; the pavement abrasion rate is: Among them, WR is the pavement wear rate, MPD c is the pavement texture depth reference value, and MPD is the pavement texture depth.

9. The pavement performance evaluation method based on three-dimensional disease information according to claim 1, characterized in that the determination of the pavement performance of the pavement to be evaluated based on the disease influence value and the non-disease road condition influence value includes: Based on a first preset size, divide the pavement to be evaluated to obtain multiple first pavement evaluation unit areas of the pavement to be evaluated, and based on a second preset size, divide the pavement to be evaluated to obtain multiple second pavement evaluation unit areas of the pavement to be evaluated. Any second pavement evaluation unit area contains multiple first pavement evaluation unit areas; For any first pavement evaluation unit, take the maximum value or weighted average value in the disease value set as the disease influence deduction value of the pavement to be evaluated. The disease value set includes one or more of the pavement crack influence value, pavement pothole influence value, pavement bump influence value, pavement settlement influence value, pavement repair influence value, pavement bleeding influence value, and pavement rut disease influence value of the first pavement evaluation unit. For any one of the first road surface evaluation units, the maximum value or the weighted average value in the non-disease road condition value set is used as the non-disease road condition impact deduction score of the road surface to be evaluated, and the non-disease road condition value set includes one or more of the road surface flatness index impact value, road surface texture depth index impact value, road surface abrasion index impact value, and road surface rut index impact value of the first road surface evaluation unit; For any one of the second road surface evaluation units, based on the disease impact deduction score of the road surface to be evaluated of all the first road surface evaluation units in the second road surface evaluation unit and the non-disease road condition impact deduction score of the road surface to be evaluated of all the first road surface evaluation units in the second road surface evaluation unit, the road surface performance of the road surface to be evaluated is determined.

10. The road surface performance evaluation method based on three-dimensional disease information according to claim 9, characterized in that, Determining the road surface performance of the road surface to be evaluated based on the disease impact deduction score of the road surface to be evaluated of all the first road surface evaluation units in the second road surface evaluation unit and the non-disease road condition impact deduction score of the road surface to be evaluated of all the first road surface evaluation units in the second road surface evaluation unit includes: For all the first road surface evaluation units in the second road surface evaluation unit, select the maximum value between the disease impact deduction score and the non-disease road condition impact deduction score in the first road surface evaluation unit as the road surface performance deduction score of the first road surface evaluation unit; Or, select the weighted average value of the disease impact deduction score and the non-disease road condition impact deduction score in the first road surface evaluation unit as the road surface performance deduction score of the first road surface evaluation unit; Sort the road surface performance deduction scores of all the first road surface evaluation units in the second road surface evaluation unit, and select the target evaluation units whose road surface performance deduction scores are greater than the preset performance deduction threshold; Based on the target evaluation units whose road surface performance deduction scores are greater than the preset performance deduction threshold, determine the road surface performance of the road surface to be evaluated.

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